diff options
| -rw-r--r-- | src/Makefile.proto | 2 | ||||
| -rw-r--r-- | src/ao.h | 102 | ||||
| -rw-r--r-- | src/ao_log.c | 162 | ||||
| -rw-r--r-- | src/ao_log_big.c | 145 | ||||
| -rw-r--r-- | src/ao_log_tiny.c | 82 |
5 files changed, 309 insertions, 184 deletions
diff --git a/src/Makefile.proto b/src/Makefile.proto index ee3b4d6c..30e626ad 100644 --- a/src/Makefile.proto +++ b/src/Makefile.proto @@ -142,6 +142,7 @@ SKY_DRIVER_SRC = \ TM_TASK_SRC = \ ao_flight.c \ ao_log.c \ + ao_log_big.c \ ao_report.c \ ao_telemetry.c @@ -173,6 +174,7 @@ TMINI_DRIVER_SRC = \ TMINI_TASK_SRC = \ ao_flight.c \ ao_log.c \ + ao_log_tiny.c \ ao_report.c \ ao_telemetry.c @@ -516,6 +516,70 @@ ao_storage_device_info(void) __reentrant; * ao_log.c */ +/* We record flight numbers in the first record of + * the log. Tasks may wait for this to be initialized + * by sleeping on this variable. + */ +extern __xdata uint16_t ao_flight_number; + +extern __pdata uint32_t ao_log_current_pos; +extern __pdata uint32_t ao_log_end_pos; +extern __pdata uint32_t ao_log_start_pos; +extern __xdata uint8_t ao_log_running; +extern __xdata enum flight_state ao_log_state; + +/* required functions from the underlying log system */ + +/* Return the flight number from the given log slot, 0 if none */ +uint16_t +ao_log_flight(uint8_t slot); + +/* Flush the log */ +void +ao_log_flush(void); + +/* Logging thread main routine */ +void +ao_log(void); + +/* functions provided in ao_log.c */ + +/* Figure out the current flight number */ +void +ao_log_scan(void) __reentrant; + +/* Return the position of the start of the given log slot */ +uint32_t +ao_log_pos(uint8_t slot); + +/* Start logging to eeprom */ +void +ao_log_start(void); + +/* Stop logging */ +void +ao_log_stop(void); + +/* Initialize the logging system */ +void +ao_log_init(void); + +/* Write out the current flight number to the erase log */ +void +ao_log_write_erase(uint8_t pos); + +/* Returns true if there are any logs stored in eeprom */ +uint8_t +ao_log_present(void); + +/* Returns true if there is no more storage space available */ +uint8_t +ao_log_full(void); + +/* + * ao_log_big.c + */ + /* * The data log is recorded in the eeprom as a sequence * of data packets. @@ -614,44 +678,6 @@ struct ao_log_record { uint8_t ao_log_data(__xdata struct ao_log_record *log) __reentrant; -/* Flush the log */ -void -ao_log_flush(void); - -/* We record flight numbers in the first record of - * the log. Tasks may wait for this to be initialized - * by sleeping on this variable. - */ -extern __xdata uint16_t ao_flight_number; - -/* Logging thread main routine */ -void -ao_log(void); - -/* Start logging to eeprom */ -void -ao_log_start(void); - -/* Stop logging */ -void -ao_log_stop(void); - -/* Initialize the logging system */ -void -ao_log_init(void); - -/* Write out the current flight number to the erase log */ -void -ao_log_write_erase(uint8_t pos); - -/* Returns true if there are any logs stored in eeprom */ -uint8_t -ao_log_present(void); - -/* Returns true if there is no more storage space available */ -uint8_t -ao_log_full(void); - /* * ao_flight.c */ diff --git a/src/ao_log.c b/src/ao_log.c index 817d3e6f..433e9c3a 100644 --- a/src/ao_log.c +++ b/src/ao_log.c @@ -17,43 +17,12 @@ #include "ao.h" -static __pdata uint32_t ao_log_current_pos; -static __pdata uint32_t ao_log_end_pos; -static __pdata uint32_t ao_log_start_pos; -static __xdata uint8_t ao_log_running; -static __xdata uint8_t ao_log_mutex; - -static uint8_t -ao_log_csum(__xdata uint8_t *b) __reentrant -{ - uint8_t sum = 0x5a; - uint8_t i; - - for (i = 0; i < sizeof (struct ao_log_record); i++) - sum += *b++; - return -sum; -} - -uint8_t -ao_log_data(__xdata struct ao_log_record *log) __reentrant -{ - uint8_t wrote = 0; - /* set checksum */ - log->csum = 0; - log->csum = ao_log_csum((__xdata uint8_t *) log); - ao_mutex_get(&ao_log_mutex); { - if (ao_log_current_pos >= ao_log_end_pos && ao_log_running) - ao_log_stop(); - if (ao_log_running) { - wrote = 1; - ao_storage_write(ao_log_current_pos, - log, - sizeof (struct ao_log_record)); - ao_log_current_pos += sizeof (struct ao_log_record); - } - } ao_mutex_put(&ao_log_mutex); - return wrote; -} +__pdata uint32_t ao_log_current_pos; +__pdata uint32_t ao_log_end_pos; +__pdata uint32_t ao_log_start_pos; +__xdata uint8_t ao_log_running; +__xdata enum flight_state ao_log_state; +__xdata uint16_t ao_flight_number; void ao_log_flush(void) @@ -61,91 +30,6 @@ ao_log_flush(void) ao_storage_flush(); } -static void ao_log_scan(void); - -__xdata struct ao_log_record log; -__xdata uint16_t ao_flight_number; - -static uint8_t -ao_log_dump_check_data(void) -{ - if (ao_log_csum((uint8_t *) &log) != 0) - return 0; - return 1; -} - -__xdata uint8_t ao_log_adc_pos; -__xdata enum flight_state ao_log_state; - -/* a hack to make sure that ao_log_records fill the eeprom block in even units */ -typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_record))] ; - -void -ao_log(void) -{ - ao_storage_setup(); - - ao_log_scan(); - - while (!ao_log_running) - ao_sleep(&ao_log_running); - - log.type = AO_LOG_FLIGHT; - log.tick = ao_flight_tick; -#if HAS_ACCEL - log.u.flight.ground_accel = ao_ground_accel; -#endif - log.u.flight.flight = ao_flight_number; - ao_log_data(&log); - - /* Write the whole contents of the ring to the log - * when starting up. - */ - ao_log_adc_pos = ao_adc_ring_next(ao_flight_adc); - for (;;) { - /* Write samples to EEPROM */ - while (ao_log_adc_pos != ao_flight_adc) { - log.type = AO_LOG_SENSOR; - log.tick = ao_adc_ring[ao_log_adc_pos].tick; - log.u.sensor.accel = ao_adc_ring[ao_log_adc_pos].accel; - log.u.sensor.pres = ao_adc_ring[ao_log_adc_pos].pres; - ao_log_data(&log); - if ((ao_log_adc_pos & 0x1f) == 0) { - log.type = AO_LOG_TEMP_VOLT; - log.tick = ao_adc_ring[ao_log_adc_pos].tick; - log.u.temp_volt.temp = ao_adc_ring[ao_log_adc_pos].temp; - log.u.temp_volt.v_batt = ao_adc_ring[ao_log_adc_pos].v_batt; - ao_log_data(&log); - log.type = AO_LOG_DEPLOY; - log.tick = ao_adc_ring[ao_log_adc_pos].tick; - log.u.deploy.drogue = ao_adc_ring[ao_log_adc_pos].sense_d; - log.u.deploy.main = ao_adc_ring[ao_log_adc_pos].sense_m; - ao_log_data(&log); - } - ao_log_adc_pos = ao_adc_ring_next(ao_log_adc_pos); - } - /* Write state change to EEPROM */ - if (ao_flight_state != ao_log_state) { - ao_log_state = ao_flight_state; - log.type = AO_LOG_STATE; - log.tick = ao_flight_tick; - log.u.state.state = ao_log_state; - log.u.state.reason = 0; - ao_log_data(&log); - - if (ao_log_state == ao_flight_landed) - ao_log_stop(); - } - - /* Wait for a while */ - ao_delay(AO_MS_TO_TICKS(100)); - - /* Stop logging when told to */ - while (!ao_log_running) - ao_sleep(&ao_log_running); - } -} - /* * When erasing a flight log, make sure the config block * has an up-to-date version of the current flight number @@ -205,26 +89,13 @@ ao_log_slots() return (uint8_t) (ao_storage_config / ao_config.flight_log_max); } -static uint32_t +uint32_t ao_log_pos(uint8_t slot) { return ((slot) * ao_config.flight_log_max); } static uint16_t -ao_log_flight(uint8_t slot) -{ - if (!ao_storage_read(ao_log_pos(slot), - &log, - sizeof (struct ao_log_record))) - return 0; - - if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT) - return log.u.flight.flight; - return 0; -} - -static uint16_t ao_log_max_flight(void) { uint8_t log_slot; @@ -244,7 +115,7 @@ ao_log_max_flight(void) return max_flight; } -static void +void ao_log_scan(void) __reentrant { uint8_t log_slot; @@ -364,20 +235,21 @@ ao_log_delete(void) __reentrant ao_log_current_pos = ao_log_pos(slot); ao_log_end_pos = ao_log_current_pos + ao_config.flight_log_max; while (ao_log_current_pos < ao_log_end_pos) { + uint8_t i; + static __xdata uint8_t b; + /* * Check to see if we've reached the end of * the used memory to avoid re-erasing the same * memory over and over again */ - if (ao_storage_read(ao_log_current_pos, - &log, - sizeof (struct ao_log_record))) { - for (slot = 0; slot < sizeof (struct ao_log_record); slot++) - if (((uint8_t *) &log)[slot] != 0xff) + for (i = 0; i < 16; i++) { + if (ao_storage_read(ao_log_current_pos + i, &b, 1)) + if (b != 0xff) break; - if (slot == sizeof (struct ao_log_record)) - break; } + if (i == 16) + break; ao_storage_erase(ao_log_current_pos); ao_log_current_pos += ao_storage_block; } @@ -389,8 +261,6 @@ ao_log_delete(void) __reentrant printf("No such flight: %d\n", ao_cmd_lex_i); } - - __code struct ao_cmds ao_log_cmds[] = { { ao_log_list, "l\0List stored flight logs" }, { ao_log_delete, "d <flight-number>\0Delete stored flight" }, diff --git a/src/ao_log_big.c b/src/ao_log_big.c new file mode 100644 index 00000000..6db4a0ff --- /dev/null +++ b/src/ao_log_big.c @@ -0,0 +1,145 @@ +/* + * Copyright © 2011 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include "ao.h" + +static __xdata uint8_t ao_log_mutex; +static __xdata struct ao_log_record log; + +static uint8_t +ao_log_csum(__xdata uint8_t *b) __reentrant +{ + uint8_t sum = 0x5a; + uint8_t i; + + for (i = 0; i < sizeof (struct ao_log_record); i++) + sum += *b++; + return -sum; +} + +uint8_t +ao_log_data(__xdata struct ao_log_record *log) __reentrant +{ + uint8_t wrote = 0; + /* set checksum */ + log->csum = 0; + log->csum = ao_log_csum((__xdata uint8_t *) log); + ao_mutex_get(&ao_log_mutex); { + if (ao_log_current_pos >= ao_log_end_pos && ao_log_running) + ao_log_stop(); + if (ao_log_running) { + wrote = 1; + ao_storage_write(ao_log_current_pos, + log, + sizeof (struct ao_log_record)); + ao_log_current_pos += sizeof (struct ao_log_record); + } + } ao_mutex_put(&ao_log_mutex); + return wrote; +} + +static uint8_t +ao_log_dump_check_data(void) +{ + if (ao_log_csum((uint8_t *) &log) != 0) + return 0; + return 1; +} + +static __xdata uint8_t ao_log_adc_pos; + +/* a hack to make sure that ao_log_records fill the eeprom block in even units */ +typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_record))] ; + +void +ao_log(void) +{ + ao_storage_setup(); + + ao_log_scan(); + + while (!ao_log_running) + ao_sleep(&ao_log_running); + + log.type = AO_LOG_FLIGHT; + log.tick = ao_flight_tick; +#if HAS_ACCEL + log.u.flight.ground_accel = ao_ground_accel; +#endif + log.u.flight.flight = ao_flight_number; + ao_log_data(&log); + + /* Write the whole contents of the ring to the log + * when starting up. + */ + ao_log_adc_pos = ao_adc_ring_next(ao_flight_adc); + for (;;) { + /* Write samples to EEPROM */ + while (ao_log_adc_pos != ao_flight_adc) { + log.type = AO_LOG_SENSOR; + log.tick = ao_adc_ring[ao_log_adc_pos].tick; + log.u.sensor.accel = ao_adc_ring[ao_log_adc_pos].accel; + log.u.sensor.pres = ao_adc_ring[ao_log_adc_pos].pres; + ao_log_data(&log); + if ((ao_log_adc_pos & 0x1f) == 0) { + log.type = AO_LOG_TEMP_VOLT; + log.tick = ao_adc_ring[ao_log_adc_pos].tick; + log.u.temp_volt.temp = ao_adc_ring[ao_log_adc_pos].temp; + log.u.temp_volt.v_batt = ao_adc_ring[ao_log_adc_pos].v_batt; + ao_log_data(&log); + log.type = AO_LOG_DEPLOY; + log.tick = ao_adc_ring[ao_log_adc_pos].tick; + log.u.deploy.drogue = ao_adc_ring[ao_log_adc_pos].sense_d; + log.u.deploy.main = ao_adc_ring[ao_log_adc_pos].sense_m; + ao_log_data(&log); + } + ao_log_adc_pos = ao_adc_ring_next(ao_log_adc_pos); + } + /* Write state change to EEPROM */ + if (ao_flight_state != ao_log_state) { + ao_log_state = ao_flight_state; + log.type = AO_LOG_STATE; + log.tick = ao_flight_tick; + log.u.state.state = ao_log_state; + log.u.state.reason = 0; + ao_log_data(&log); + + if (ao_log_state == ao_flight_landed) + ao_log_stop(); + } + + /* Wait for a while */ + ao_delay(AO_MS_TO_TICKS(100)); + + /* Stop logging when told to */ + while (!ao_log_running) + ao_sleep(&ao_log_running); + } +} + +uint16_t +ao_log_flight(uint8_t slot) +{ + if (!ao_storage_read(ao_log_pos(slot), + &log, + sizeof (struct ao_log_record))) + return 0; + + if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT) + return log.u.flight.flight; + return 0; +} diff --git a/src/ao_log_tiny.c b/src/ao_log_tiny.c new file mode 100644 index 00000000..877c1033 --- /dev/null +++ b/src/ao_log_tiny.c @@ -0,0 +1,82 @@ +/* + * Copyright © 2011 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include "ao.h" + +static __data uint16_t ao_log_tiny_interval; +static __data uint32_t ao_log_tiny_pos; + +#define AO_LOG_TINY_INTERVAL_ASCENT AO_MS_TO_TICKS(100) +#define AO_LOG_TINY_INTERVAL_DEFAULT AO_MS_TO_TICKS(1000) + +void +ao_log_tiny_set_interval(uint16_t ticks) +{ + ao_log_tiny_interval = ticks; +} + +static __xdata uint16_t ao_log_tiny_data_temp; + +#define ao_log_tiny_data(d) do { \ + ao_log_tiny_data_temp = (d); \ + ao_storage_write(ao_log_tiny_pos, &ao_log_tiny_data_temp, 2); \ + ao_log_tiny_pos += 2; \ + } while (0) + +void +ao_log(void) +{ + uint16_t time; + int16_t delay; + enum ao_flight_state ao_log_tiny_state; + + ao_storage_setup(); + + ao_log_tiny_state = ao_flight_invalid; + ao_log_tiny_interval = AO_LOG_TINY_INTERVAL_DEFAULT; + while (!ao_log_running) + ao_sleep(&ao_log_running); + + time = ao_time(); + ao_log_tiny_data(ao_flight_number); + for (;;) { + if (ao_flight_state != ao_log_tiny_state) { + ao_log_tiny_data(ao_flight_state | 0x8000); + ao_log_tiny_state = ao_flight_state; + ao_log_tiny_interval = AO_LOG_TINY_INTERVAL_DEFAULT; + if (ao_log_tiny_state <= ao_flight_coast) + ao_log_tiny_interval = AO_LOG_TINY_INTERVAL_ASCENT; + } + ao_log_tiny_data(ao_flight_pres); // XXX change to alt + time += ao_log_tiny_interval; + delay = time - ao_time(); + if (delay > 0) + ao_delay(delay); + } +} + +uint16_t +ao_log_flight(uint8_t slot) +{ + static __xdata uint16_t flight; + + (void) slot; + ao_storage_read(0, &flight, 2); + if (flight == 0xffff) + flight = 0; + return flight; +} |